This sketch has been updated to AndroTest.ino V1.41
#define VERSION "AndroTest V1.41A - @kas2014\ndemo for V4.X (6 button version)"
// V1.41A Sabertooth version
// V1.3A Sabertooth version
// Demo setup: motor only, no buttons
// Arduino pin#2 to TX BlueTooth module
// Arduino pin#3 to RX BlueTooth module
// make sure your BT board is set @57600 bps
// better remove SoftSerial for PWM based projects
// For Mega 2560:
// remove #include "SoftwareSerial.h", SoftwareSerial mySerial(2,3);
// search/replace mySerial >> Serial1
// pin#18 to RX bluetooth module, pin#19 to TX bluetooth module
#include "SoftwareSerial.h"
#include <Servo.h> // Sabertooth XXX
Servo motor_R; // Sabertooth XXX
Servo motor_L; // Sabertooth XXX
#define PWM_R 5 // Sabertooth XXX PWM output
#define PWM_L 6 // Sabertooth XXX PWM output
#define STX 0x01
#define ETX 0x00
#define ledPin 13
#define SLOW 1000 // Datafields refresh rate (ms)
#define FAST 250 // Datafields refresh rate (ms)
boolean DEBUG = false;
SoftwareSerial mySerial(2,3); // BlueTooth module: pin#2=TX pin#3=RX
int i=0;
byte cmd[6] = {0, 0, 0, 0, 0, 0}; // bytes received
//byte buttonStatus = 0; // first Byte sent to Android device
//long previousMillis = 0; // will store last time Buttons status was updated
//boolean setButtonFeedback = false; // momentary buttons feedback to Android device
//long sendInterval = SLOW; // interval between Buttons status transmission (milliseconds)
//String displayStatus = "xxxx"; // message to Android device
void setup() {
Serial.begin(57600);
mySerial.begin(57600); // 57600 = max value for softserial
pinMode(ledPin, OUTPUT);
Serial.println(VERSION);
motor_R.attach(PWM_R); // Sabertooth XXX
motor_R.attach(PWM_L); // Sabertooth XXX
}
void loop() {
if(mySerial.available()) { // data received from smartphone
delay(2); // <<mod XXXXXXXX
cmd[0] = mySerial.read();
if(cmd[0] == STX) {
i=1;
while(mySerial.available()) {
delay(1); // <<mod XXXXXXXX
cmd[i] = mySerial.read();
if(cmd[i]>127 || i>5) break; // Communication error << XXX Mod
if((cmd[i]==ETX) && ((i==2 && cmd[1]>2) || i==5)) break; // Button or Joystick data
i++;
}
if (i==2 && cmd[1]>48 && cmd[1]<68) getButtonState(cmd[1]); // 3 Bytes
else if(i==5 && cmd[1]<3 && cmd[3]<3 ) getJoystickState(cmd); // 6 Bytes
if(DEBUG) printDebug(i);
}
}
sendBlueToothData(); // <<mod XXXXXXXX
}
void getJoystickState(byte data[5]) {
int joyX = (data[1]<<7) + data[2];
int joyY = (data[3]<<7) + data[4];
joyX = joyX - 200; // Offset to avoid
joyY = joyY - 200; // transmitting negative numbers
if(!DEBUG) {
Serial.print("Joystick position: ");
Serial.print(joyX);
Serial.print(", ");
Serial.println(joyY);
}
// Your code here ...
joyX = map(joyX, -100, 100, 0, 180); // Sabertooth XXX
joyY = map(joyY, -100, 100, 0, 180); // Sabertooth XXX
// 180: full forward, 0: full reverse, 90: stop
motor_R.write(joyX); // Sabertooth XXX
motor_L.write(joyY); // Sabertooth XXX
}
void getButtonState(int bStatus) {
// do nothing
}
void sendBlueToothData() {
// do nothing
}
//String getButtonStatusString() {
//}
//int GetdataInt1() { // Data dummy values sent to Android device for demo purpose
//}
//float GetdataFloat2() { // Data dummy values sent to Android device for demo purpose
//}
void printDebug(int nByte) {
if(nByte ==2) {
// Serial.print("buttonStatus: "); Serial.print(buttonStatus);
// Serial.print(" bin: "); Serial.println(getButtonStatusString());
// Serial.print("Button: < ");
}
else if(nByte ==5) Serial.print("Joystick: < ");
else Serial.print("*error*: < ");
for(int j =0; j<nByte+1; j++) { Serial.print(cmd[j]); Serial.print(" "); }
Serial.println(">");
}
When the joystick goes left the bot goes forward, when the joystick goes right the bot goes backward.
The forward and backward movement of the stick does nothing to the bot.
Left motor should turn Forward/Backward with joystick moving North/South
Right motor should turn Forward/Backward with joystick moving East/West
Double check your cabling and let me know the status